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An Adaptive Software and System Architecture for Driver Assistance Systems Applied to Truck and Trailer Combinations

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An Adaptive Software and System Architecture for Driver Assistance Systems Applied to Truck and Trailer Combinations FACHBEREICH INFORMATIK An adaptive Software and System Architecture for Driver Assistance Systems applied to truck and trailer combinations Vom Promotionsausschuss des Fachbereichs 4: Informatik an der Universität Koblenz-Landau zur Verleihung des akademischen Grades Doktor der Naturwissenschaften (Dr. rer. nat.) genehmigte DISSERTATION vorgelegt von Dipl.-Ing.(FH) Marco Andreas Wagner Leonberg - Juni 2015 Datum der Einreichung: 19. November 2014 Datum der wissenschaftlichen Aussprache: 3. Juni 2015 Vorsitzender des Promotionsausschusses: Prof. Dr. Ralf Lämmel Vorsitzender der Promotionskommission: Prof. Dr. Hannes Frey Erstgutachter: Prof. Dr. Dieter Zöbel, Fachbereich Informatik, Universität Koblenz-Landau Zweitgutachter: Prof. Luís Almeida, PhD, University of Porto Drittgutachter: Prof. Dr. Ansgar Meroth, Hochschule Heilbronn Veröffentlicht als Dissertation der Universität Koblenz-Landau. Abstract Traditional Driver Assistance Systems (DAS) like for example Lane Departure Warning Systems or the well known Electronic Stability Program have in common that their system and software architecture is static. This means that neither the number and topology of Electronic Control Units (ECUs) nor the presence and functionality of software modules changes after the vehicles leave the factory. However, some future DAS do face changes at runtime. This is true for example for truck and trailer DAS as their hardware components and software entities are spread over both parts of the combination. These new requirements can’t be faced by state-of-the-art approaches of automotive software systems. Instead, a different technique of designing such Dis- tributed Driver Assistance Systems (DDAS) needs to be developed. The main contribution of this thesis is the development of a novel Software and Sys- tem Architecture for dynamically changing DAS using the example of driving assistance for truck and trailer. This architecture has to be able to autonomously detect and handle changes within the topology. In order to do so, the system decides which degree of assistance and which types of HMI can be offered every time a trailer is connected or disconnected. Therefore an analysis of the available software and hardware components as well as a determination of possible assistance functionality and a re-configuration of the system take place. Such adaptation can be granted by the principles of Service- oriented Architecture (SOA). In this architectural style all functionality is encapsulated in self-contained units, so called Services. These Services offer the functionality through well-defined interfaces whose behavior is described in contracts. Using these Services, large scale applications can be build and adapted at runtime. This thesis describes the research conducted in achieving the goals described by introducing Service-oriented Architectures into the automotive domain. SOA deals with the high degree of distribution, the demand for re-usability and the heterogeneity of the needed components. It also applies automatic re-configuration in the event of a system change. Instead of adapting one of the frameworks available to this scenario, the main principles of Service-orientation are picked up and tailored. This leads to the development of the Service-oriented Driver Assistance (SODA) framework, which imple- ments the benefits of Service-orientation while ensuring compatibility and compliance to automotive requirements, best-practices and standards. Within this thesis several state-of-the-art Service-oriented frameworks are analyzed and compared. Furthermore, the SODA framework as well as all its different aspects re- garding the automotive software domain are described in detail. These aspects include a well-defined Reference Model that introduces and relates terms and concepts and defines an architectural blueprint. Furthermore, some of the modules of this blueprint such as the re-configuration module and the Communication Model are presented in full detail. In order to prove the compliance of the framework regarding state-of-the-art automotive software systems, a development process respecting today’s best practices in automotive design procedures as well as the integration of SODA into the AUTOSAR standard are discussed. Finally, the SODA framework is used to build a full-scale demonstrator in order to evaluate its performance and efficiency. 3 Kurzfassung Klassische Fahrerassistenzsysteme (FAS) wie beispielsweise der Spurassistent oder das weit verbreitete Elektronische Stabilitätsprogramm basieren auf statischen System- und Softwarearchitekturen. Dies bedeutet, dass weder die Anzahl oder Topologie der Steuergeräte noch das Vorhandensein oder die Funktionalität von Softwaremodulen Änderungen zur Laufzeit unterliegen. Es existieren allerdings zukünftige FAS, bei denen solche Veränderungen eintreten können. Hierzu gehören beispielsweise Assistenzsysteme für Fahrzeuge mit Anhänger da deren Steuergeräte und Softwaremodule über beide Teile des Gespanns verteilt sind. Diese neue Herausforderung kann nicht durch Ansätze die zum Stand der Technik gehören bewältigt werden. Stattdessen muss ein neuar- tiges Verfahren für das Design von solch verteilten Fahrerassistenzsystemen entwickelt werden. Der zentrale wissenschaftliche Beitrag dieser Arbeit liegt in der Entwicklung einer neuartigen Software- und Systemarchitektur für dynamisch veränderliche FAS am Beispiel der Assistenzsysteme für Fahrzeuge mit Anhänger. Diese Architektur muss in der Lage sein, Veränderungen in der Topologie eigenständig zu erkennen und darauf zu reagieren. Hierbei entscheidet das System welcher Grad der Assistenz und welche Nutzerschnittstelle nach dem An- oder Abkoppeln eines Anhängers angeboten werden kann. Hierzu werden neben der verfügbaren Software und Hardware die ausführbaren Assistenzfunktionalitäten analysiert und eine entsprechende Re-Konfiguration durchge- führt. Eine solche Systemanpassung kann vorgenommen werden, indem man auf die Prinzipien der Service-orientierten Architektur zurückgreift. Hierbei wird alle vorhan- dene Funktionalität in abgeschlossene Einheiten, so genannte Services gegossen. Diese Services stellen ihre Funktionalität über klar definierte Schnittstellen zur Verfügung, deren Verhalten durch so genannte Contracts beschrieben wird. Größere Applikationen werden zur Laufzeit durch den Zusammenschluss von mehreren solcher Services gebildet und adaptiert. Die Arbeit beschreibt die Forschung die geleistet wurde, um die oben genannten Ziele durch den Einsatz von Service-orientierten Architekturen im automotiven Umfeld zu erreichen. Hierbei wird dem hohen Grad an Verteilung, dem Wunsch nach Wiederver- wendbarkeit sowie der Heterogenität der einzelnen Komponenten durch den Einsatz der Prinzipien einer SOA begegnet. Weiterhin führt das Service-orientierte System eine automatische Re-Konfiguration im Falle einer Systemänderung durch. Statt eines der vorhandenen SOA Frameworks an die Verhältnisse im automotiven Umfeld anzupassen werden die einzelnen in SOA enthaltenen Prinzipien auf die Problemstellung angepasst. Hierbei entsteht ein eigenständiges Framework namens "Service-oriented Driver Assis- tance" (SODA) welches die Vorteile einer SOA mit den Anforderungen, bewährten Meth- oden und Standards vereint. Im Rahmen dieser Arbeit werden verschiedene SOA Frame- works analysiert und miteinander vergleichen. Außerdem wird das SODA Framework sowie dessen Anpassungen bezüglich automotiver Systeme detailliert beschrieben. Hi- erzu zählt auch ein Referenzmodell, welches die Begrifflichkeiten und Konzepte einführt und zueinander in Beziehung setzt sowie eine Referenzarchitektur definiert. Einige der Module dieser Referenzarchitektur wie beispielsweise das Re-Konfigurations- und das Kommunikationsmodul werden sehr detailiert in eigenen Kapiteln beschrieben. Um die Kompatibilität des Frameworks sicherzustellen wird die Integration in einen be- währten Entwicklungsprozess sowie in den Architekturstandard AUTOSAR diskutiert. Abschließend wird der Aufbau eines Demonstrators und dessen Evaluation bezüglich der Leistungsfähigkeit und Effizienz des Frameworks beschrieben. 4 Acknowledgements The completion of this thesis has been a long and winding journey. It would not have been successful without the help, support or guidance given by numerous people around me. First of all I would like to thank my doctoral adviser Dieter Zöbel. Without his openness in the first place this "experiment" would have never happened. Furthermore, I would like to thank him for all the support, the countless discussions and the guidance he offered me throughout all the years. Another person that has to be named here is Ansgar Meroth. I would like to thank him for the trust he put in me. For hiring me right after my diploma thesis back in 2008 and for providing me all the necessary guidance, freedom in our work arrangements and advice in both technical and organizational fields. I would also like to thank Luís Almeida for reviewing this thesis. I always enjoyed the discussions with him and benefited a lot from his advise and experience. During my doctorate I was fortunate enough to have two quite different but yet very supportive institutions backing me. I would like to thank the associates of Heilbronn University that supported this thesis during the last six years. Without their help huge parts of the prototyping would have not been possible at all. Especially, I would like to thank Raoul Zöllner for the valuable advice and for providing me all the organizational support. Furthermore I would like to thank some of my
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